CN107976988A - Online and offline control valve data integrate - Google Patents

Online and offline control valve data integrate Download PDF

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Publication number
CN107976988A
CN107976988A CN201711004140.6A CN201711004140A CN107976988A CN 107976988 A CN107976988 A CN 107976988A CN 201711004140 A CN201711004140 A CN 201711004140A CN 107976988 A CN107976988 A CN 107976988A
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control valve
valve
diagnostic
control
offline
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Granted
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CN201711004140.6A
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CN107976988B (en
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S·W·安德森
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Fisher Controls International LLC
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Fisher Controls International LLC
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    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
    • G05B23/00—Testing or monitoring of control systems or parts thereof
    • G05B23/02—Electric testing or monitoring
    • G05B23/0205—Electric testing or monitoring by means of a monitoring system capable of detecting and responding to faults
    • G05B23/0208—Electric testing or monitoring by means of a monitoring system capable of detecting and responding to faults characterized by the configuration of the monitoring system
    • G05B23/0213—Modular or universal configuration of the monitoring system, e.g. monitoring system having modules that may be combined to build monitoring program; monitoring system that can be applied to legacy systems; adaptable monitoring system; using different communication protocols
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
    • G05B23/00—Testing or monitoring of control systems or parts thereof
    • G05B23/02—Electric testing or monitoring
    • G05B23/0205—Electric testing or monitoring by means of a monitoring system capable of detecting and responding to faults
    • G05B23/0208—Electric testing or monitoring by means of a monitoring system capable of detecting and responding to faults characterized by the configuration of the monitoring system
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
    • F16K—VALVES; TAPS; COCKS; ACTUATING-FLOATS; DEVICES FOR VENTING OR AERATING
    • F16K31/00—Actuating devices; Operating means; Releasing devices
    • F16K31/12—Actuating devices; Operating means; Releasing devices actuated by fluid
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
    • F16K—VALVES; TAPS; COCKS; ACTUATING-FLOATS; DEVICES FOR VENTING OR AERATING
    • F16K37/00—Special means in or on valves or other cut-off apparatus for indicating or recording operation thereof, or for enabling an alarm to be given
    • F16K37/0075—For recording or indicating the functioning of a valve in combination with test equipment
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
    • F16K—VALVES; TAPS; COCKS; ACTUATING-FLOATS; DEVICES FOR VENTING OR AERATING
    • F16K37/00—Special means in or on valves or other cut-off apparatus for indicating or recording operation thereof, or for enabling an alarm to be given
    • F16K37/0075—For recording or indicating the functioning of a valve in combination with test equipment
    • F16K37/0083—For recording or indicating the functioning of a valve in combination with test equipment by measuring valve parameters
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
    • G05B23/00—Testing or monitoring of control systems or parts thereof
    • G05B23/02—Electric testing or monitoring
    • G05B23/0205—Electric testing or monitoring by means of a monitoring system capable of detecting and responding to faults
    • G05B23/0218—Electric testing or monitoring by means of a monitoring system capable of detecting and responding to faults characterised by the fault detection method dealing with either existing or incipient faults
    • G05B23/0224—Process history based detection method, e.g. whereby history implies the availability of large amounts of data
    • G05B23/0227—Qualitative history assessment, whereby the type of data acted upon, e.g. waveforms, images or patterns, is not relevant, e.g. rule based assessment; if-then decisions
    • G05B23/0235—Qualitative history assessment, whereby the type of data acted upon, e.g. waveforms, images or patterns, is not relevant, e.g. rule based assessment; if-then decisions based on a comparison with predetermined threshold or range, e.g. "classical methods", carried out during normal operation; threshold adaptation or choice; when or how to compare with the threshold
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
    • G05B23/00—Testing or monitoring of control systems or parts thereof
    • G05B23/02—Electric testing or monitoring
    • G05B23/0205—Electric testing or monitoring by means of a monitoring system capable of detecting and responding to faults
    • G05B23/0259—Electric testing or monitoring by means of a monitoring system capable of detecting and responding to faults characterized by the response to fault detection
    • G05B23/0283—Predictive maintenance, e.g. involving the monitoring of a system and, based on the monitoring results, taking decisions on the maintenance schedule of the monitored system; Estimating remaining useful life [RUL]
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D16/00—Control of fluid pressure
    • G05D16/20—Control of fluid pressure characterised by the use of electric means
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D7/00—Control of flow
    • G05D7/06—Control of flow characterised by the use of electric means
    • G05D7/0617—Control of flow characterised by the use of electric means specially adapted for fluid materials
    • G05D7/0629—Control of flow characterised by the use of electric means specially adapted for fluid materials characterised by the type of regulator means
    • G05D7/0635—Control of flow characterised by the use of electric means specially adapted for fluid materials characterised by the type of regulator means by action on throttling means
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F15—FLUID-PRESSURE ACTUATORS; HYDRAULICS OR PNEUMATICS IN GENERAL
    • F15B—SYSTEMS ACTING BY MEANS OF FLUIDS IN GENERAL; FLUID-PRESSURE ACTUATORS, e.g. SERVOMOTORS; DETAILS OF FLUID-PRESSURE SYSTEMS, NOT OTHERWISE PROVIDED FOR
    • F15B19/00—Testing; Calibrating; Fault detection or monitoring; Simulation or modelling of fluid-pressure systems or apparatus not otherwise provided for
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F15—FLUID-PRESSURE ACTUATORS; HYDRAULICS OR PNEUMATICS IN GENERAL
    • F15B—SYSTEMS ACTING BY MEANS OF FLUIDS IN GENERAL; FLUID-PRESSURE ACTUATORS, e.g. SERVOMOTORS; DETAILS OF FLUID-PRESSURE SYSTEMS, NOT OTHERWISE PROVIDED FOR
    • F15B19/00—Testing; Calibrating; Fault detection or monitoring; Simulation or modelling of fluid-pressure systems or apparatus not otherwise provided for
    • F15B19/005—Fault detection or monitoring
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F15—FLUID-PRESSURE ACTUATORS; HYDRAULICS OR PNEUMATICS IN GENERAL
    • F15B—SYSTEMS ACTING BY MEANS OF FLUIDS IN GENERAL; FLUID-PRESSURE ACTUATORS, e.g. SERVOMOTORS; DETAILS OF FLUID-PRESSURE SYSTEMS, NOT OTHERWISE PROVIDED FOR
    • F15B2211/00—Circuits for servomotor systems
    • F15B2211/60—Circuit components or control therefor
    • F15B2211/63—Electronic controllers
    • F15B2211/6303—Electronic controllers using input signals
    • F15B2211/6306—Electronic controllers using input signals representing a pressure
    • F15B2211/6313—Electronic controllers using input signals representing a pressure the pressure being a load pressure
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F15—FLUID-PRESSURE ACTUATORS; HYDRAULICS OR PNEUMATICS IN GENERAL
    • F15B—SYSTEMS ACTING BY MEANS OF FLUIDS IN GENERAL; FLUID-PRESSURE ACTUATORS, e.g. SERVOMOTORS; DETAILS OF FLUID-PRESSURE SYSTEMS, NOT OTHERWISE PROVIDED FOR
    • F15B2211/00—Circuits for servomotor systems
    • F15B2211/60—Circuit components or control therefor
    • F15B2211/63—Electronic controllers
    • F15B2211/6303—Electronic controllers using input signals
    • F15B2211/6336—Electronic controllers using input signals representing a state of the output member, e.g. position, speed or acceleration
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F15—FLUID-PRESSURE ACTUATORS; HYDRAULICS OR PNEUMATICS IN GENERAL
    • F15B—SYSTEMS ACTING BY MEANS OF FLUIDS IN GENERAL; FLUID-PRESSURE ACTUATORS, e.g. SERVOMOTORS; DETAILS OF FLUID-PRESSURE SYSTEMS, NOT OTHERWISE PROVIDED FOR
    • F15B2211/00—Circuits for servomotor systems
    • F15B2211/80—Other types of control related to particular problems or conditions
    • F15B2211/855—Testing of fluid pressure systems
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F15—FLUID-PRESSURE ACTUATORS; HYDRAULICS OR PNEUMATICS IN GENERAL
    • F15B—SYSTEMS ACTING BY MEANS OF FLUIDS IN GENERAL; FLUID-PRESSURE ACTUATORS, e.g. SERVOMOTORS; DETAILS OF FLUID-PRESSURE SYSTEMS, NOT OTHERWISE PROVIDED FOR
    • F15B2211/00—Circuits for servomotor systems
    • F15B2211/80—Other types of control related to particular problems or conditions
    • F15B2211/857—Monitoring of fluid pressure systems
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
    • G05B19/00—Programme-control systems
    • G05B19/02—Programme-control systems electric
    • G05B19/04—Programme control other than numerical control, i.e. in sequence controllers or logic controllers
    • G05B19/042—Programme control other than numerical control, i.e. in sequence controllers or logic controllers using digital processors
    • G05B19/0423—Input/output
    • G05B19/0425—Safety, monitoring
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
    • G05B2219/00—Program-control systems
    • G05B2219/20—Pc systems
    • G05B2219/24—Pc safety
    • G05B2219/24077—Module detects wear, changes of controlled device, statistical evaluation
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
    • G05B2219/00—Program-control systems
    • G05B2219/30—Nc systems
    • G05B2219/33—Director till display
    • G05B2219/33326—Analyzer, diagnostic for servovalve
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
    • G05B2219/00—Program-control systems
    • G05B2219/30—Nc systems
    • G05B2219/33—Director till display
    • G05B2219/33331—Test, diagnostic of field device for correct device, correct parameters
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
    • G05B2219/00—Program-control systems
    • G05B2219/30—Nc systems
    • G05B2219/45—Nc applications
    • G05B2219/45006—Valves

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  • Engineering & Computer Science (AREA)
  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Automation & Control Theory (AREA)
  • General Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Fluid Mechanics (AREA)
  • Testing And Monitoring For Control Systems (AREA)
  • Indication Of The Valve Opening Or Closing Status (AREA)

Abstract

Integrated diagnostic system is using online and offline diagnostic techniques come the control valve that is found in the evaluation process environment of plant.Integrated diagnostic system can improve existing diagnostic system, it usually only relies on inline diagnosis or offline diagnosis.

Description

Online and offline control valve data integrate
Technical field
The disclosure relate generally to control valve diagnosis, and in particular to integrated diagnostic system and method, it include online and from Radiodiagnosis x is to assess control valve.
Background technology
Process Control System (such as the Process Control System used in chemical oil or other process plants) is usually wrapped Include one or more process controllers, it is communicably coupled at least one host or operator workstation, and via simulation, Numeral or the analog/digital communication link of combination are coupled to one or more field devices.
Process controller receives the process measurement and/or and field device that instruction is carried out by sensor and/or field device The signal of related other information, and controller application is performed, it runs the different controls for for example carrying out process control decisions Module, control signal is generated based on the information that receives, and with equipment at the scene (such as WithFieldbus field device) in perform control module or block coordinated.Control in controller Molding block sends control signals to field device by communication line or link, so as to control process plant or system at least The operation of a part.
Can be such as valve, valve positioner, switch and transmitter (such as temperature, pressure, liquid level and flow rate sensing Device) field device be located in process environment, and usually perform physics or process control function (such as open or close valve, Measurement process parameters etc.) to control one or more processes for being performed in process plant or system.Smart devices (such as Meet the field device of well-known field bus protocol) can also perform the control usually realized in controller calculate, Warning function and other control functions.
Information from field device and controller can be usually supplied to by data highway it is one or more its Its hardware device (such as operator workstation, personal computer or computing device, data historian, Report Builder, centralization Database or other centralized management computing devices), its be generally positioned at control room or away from the harsher environment of plant its Its position.Each usually across process plant concentration in these hardware devices or the part concentration across process plant.These Hardware device operation application, it can for example enable an operator to perform on control process and/or operating process factory Function, such as changes the setting of process control routine, changes the operation of process controller or the control module in field device, looks into See the current state of process, check the alarm by field device and controller generation, the operation of simulation process with start-up or Test process control software, keeps and updates configuration database etc..The data used by hardware device, controller and field device High-speed channel can include wired communication path, wireless communications path or wired and wireless communications path combination.
Specific control targe is used for realization (for example, controlling entering for tank based on the procedure parameter of one or more measurement Mouthful valve) specific one group of process control equipment can be referred to as process control loop.In addition, each valve or miscellaneous equipment can be with And then including home loop, wherein, for example, valve positioner controls valve actuator in response to control signal, (it substantially can be with Electronic, pneumatic or hydraulic pressure) to move control element (such as valve plug), and obtain the sensor of such as position sensor Feedback, with the movement of control valve plug.This home loop is sometimes referred to as servo loop.
In the case of hydraulic valve actuator, control element can be in response to the actuator of change such as spring bias diaphragm On Fluid pressure and move, this can be caused by the valve positioner of the change in response to command signal.For example, in a standard In valve system, the command signal with the amplitude changed in the range of 4 to 20mA (milliamperes) causes valve positioner to believe with order Number the proportional balancing gate pit of amplitude in change the amount of fluid, so as to change Fluid pressure.Change the Fluid pressure in balancing gate pit So that actuator (being the membrane based on spring in this example) is mobile, this make it that control element (for example, valve plug) is mobile.Essence Really and it is accurately controlled the stroke obtained of the pressure change being applied on control element depending on (i) and (ii) control element Known relation between (sometimes referred to simply as stroke of valve).
In some cases, the relation between the pressure of supply and control element stroke is due to the abrasion on valve, process shape The change of condition (for example, flowing through the temperature or pressure of the material of valve in itself) or the change of atmospheric condition and change.In some situations Under, the relation between supply pressure and control element stroke is dynamic over time, it is therefore necessary to consistently Reappraise to keep high performance control.
In general, valve can be diagnosed using offline diagnosis or online data.Perform offline diagnosis and be typically included in receipts When collecting diagnostic data (for example, the data of the relation between provided pressure and the stroke of valve are provided), pass through its whole stroke Scope is related to scratching.Although diagnosing the synthesis picture of the global behavior of the commonly provided valve offline, these diagnosis possibly can not be caught Obtain similar to the valve behavior found in the operation valve of debugging.Capture " real world " valve behavior it is this be unsuccessfully attributable to The lower fact：Due to extreme temperature, pressure or other situations, situation may change very big because online to off-line operation.Valve is usual Speed with standardization, slowly and without any confusion passes through the stroke of gamut, rather than in a manner of similar to seeing at the scene It is mobile.Although it is this slowly paces various dynamics (dynamics) are eliminated from valve behavior, and make it easier to by Valve is compared with other similar valves, and to identify valve health metric, but itself not always aids in determining whether operation valve Whether health status deteriorates with the time.In addition, even if more closely capture is expected similar with on-line operation for diagnosis offline Valve behavior, offline diagnosis requires valve to stop using, because valve can not possibly synchronously maintain to control by the stroke of gamut Process.Therefore, for the offline diagnostic test of valve, it is often necessary to stop the process, this is for the material of loss and profit It is probably expensive.Therefore, offline diagnostic test seldom occurs, and control valve is frequently necessary to several years and could update offline Diagnosis, the situation for causing offline diagnostic result to be probably the past few years can not solve failure and normal abrasion.
Inline diagnosis is typically considered to the invasive smaller than diagnosing offline, because inline diagnosis can use at the scene (i.e. in valve is used).In brief, during inline diagnosis, valve is grasped under normal operating condition when collecting diagnostic data Make.This has the advantages that the normal operating that valve and process are not only kept when collecting diagnostic data, but also considers process bar Influence of the part (such as temperature, pressure etc.) to the performance of valve.Unfortunately, inline diagnosis method may also provide limited good Place.Because diagnostic data is only collected during normal on-line operation, inline diagnosis method possibly can not capture related rare See or the diagnostic data of unexpected situation.For example, during typical operation, many valves have limited (for example, 40% to 60%) Stroke range.Therefore, inline diagnosis possibly can not capture related valve will how response command carrys out regulating valve to the limited range Outside position diagnostic data.
The content of the invention
Integrated diagnostic system assesses the control valve found in process plant environment using online and offline diagnostic techniques. In some cases, the embodiment of integrated diagnostic system can utilize prediction, forecast analysis and/or other suitable analysis skills Art.Integrated diagnostic system can improve existing diagnostic system, existing diagnostic system usually only rely on inline diagnosis or from Radiodiagnosis x.
In one embodiment, a kind of method include it is following any one or more：(i) connect by one or more processors The offline diagnostic data of control valve is received, the offline diagnostic data description is in non-serving when the control valve in process plant When middle, response of the control valve to the first control signal of the first stroke range；(ii) by one or more of processors The inline diagnosis data of the control valve are received, the inline diagnosis data description is when the control valve is in the process plant When in service, response of the control valve to the second control signal of the second stroke range；(iii) examined offline using described Disconnected data and the inline diagnosis data, at least one behaviour of the control valve is indicated by the generation of one or more of processors Make the diagnostic metrics of parameter；And/or (iv) is generated and will connect via user in response to determining the diagnostic metrics to exceed threshold value Mouth is provided to the instruction of operator.
In one embodiment, system include it is following in any one or more：Control valve in process plant；Configuration To monitor multiple sensors of the control valve；And/or it is communicably connected to the integrated diagnostic system of the multiple sensor. Integrated diagnostic system can be configured as any one or more below execution：(i) via described in the reception of the multiple sensor The offline diagnostic data of control valve, the offline diagnostic data description are in non-clothes when the control valve in the process plant When middle in business, response of the control valve to the first control signal of the first stroke range；(ii) via the multiple sensor The inline diagnosis data of the control valve are received, the inline diagnosis data description is when the control valve is in the process plant When in service, response of the control valve to the second control signal of the second stroke range；(iii) examined offline using described Disconnected data and inline diagnosis data generation indicate the diagnostic metrics of at least one operating parameter of the control valve；And (iv) in response to determining that diagnostic metrics exceed threshold value and the instruction of operator will be provided to via user interface by generating.
In one embodiment, a kind of method include it is following any one or more：(i) control valve in process plant It is upper to start offline diagnostic program, wherein, the control valve is controlled by stroke range；(ii) in the offline diagnostic program Period, offline diagnostic data is collected from the multiple sensors for monitoring the control valve；(iii) the offline diagnostic data is utilized To calculate the offline responses of the control valve；(iv) during the on-line operation of the control valve, from the monitoring control valve The multiple sensor collection inline diagnosis data；(v) calculated using the inline diagnosis data to the more of the control valve A online response；(vi) respond, calculated the offline responses and institute for each in the multiple online response is online State the value for the response ratio that an online response in multiple online responses is associated；(vii) value of the response ratio is analyzed To determine that the response ratio changes with time rate；And (viii) exceedes threshold value when the change rate of the response ratio When, the instruction of operator will be provided to via user interface by generating.
Brief description of the drawings
According to embodiment, each attached drawing described below describes the one or more of disclosed system and/or method Aspect.In the conceived case, embodiment is related to the reference numeral in the following drawings.
Fig. 1 is the block diagram of depicted example process plant, wherein, integrated diagnostic system can be implemented to diagnose and divide The one or more control valves of analysis.
Fig. 2 is the conceptual schema for describing the integrated diagnostic system for being communicably connected to control valve, which can be Operated in the process plant of Fig. 1.
Fig. 3 is exemplified with control valve and can realizing the exemplary digital valve of the diagnostic function used by integrated diagnostic system Controller.
The actuator pressure for the typical slide valve lever that Fig. 4 is generated exemplified with the integrated diagnostic system by execution inline diagnosis With the exemplary plot of valve position.
Fig. 5 is exemplified with by performing actuator pressure and the valve position that the integrated diagnostic system of integrated diagnostic analysis generates Exemplary plot, which utilizes online and offline diagnosis.
Fig. 6 is the flow chart for describing the illustrative methods for performing integrated diagnostic analysis, it can be examined in the integrated of Fig. 2 Realized in disconnected system.
Embodiment
In general, integrated diagnostic system in the present disclosure is assessed in process using online and offline diagnostic data The parameter of the control valve operated in the environment of plant.Integrated diagnostic system is not only diagnosed by inline diagnosis or offline, but In the case of widely, the problem of valve health status deteriorates more accurately is detected using the data of both types.In addition, Integrated diagnostic system is operated in a manner of Noninvasive, and is not required so that valve is tested again offline usually.
For example, for some control valve, integrated diagnostic system can determine offline " signature " (to the process of control signal The characteristic response of variable) and one or more on-line signature, each on-line signature can correspond to whole stroke range or row A part for journey scope.Integrated diagnostic system can collect the on-line operation data of control valve, and collected is grasped online Make data compared with offline and on-line signature.Integrated diagnostic system can select diagnostic metrics, and by diagnostic metrics Currency is compared with the value found in online and offline signature.The example of this measurement is included valve in response to setting pressure Ratio that valve changes when moving the time needed for specified rate, setting pressure increase etc..
Advantageously, integrated diagnostic system can reduce existing diagnostic system and fully rely on online or offline diagnostic techniques The number of false positives easily generated.Since integrated diagnostic system can establish the baseline with static signature and also tracking tool There is the nearest behavior of on-line signature, so integrated diagnostic system can be established and a series of may be directed to various situations and be expected Behavior.For example, the system for only relying on inline diagnosis may be when valve operating outside its normal routines (for example, with SARS Type speed opens or closes valve to atypia position) false positive is produced, because outside the system is almost without description normal behaviour Valve behavior diagnostic data.In contrast, integrated diagnostic system can by the behavior of valve compared with static signature, More accurately to determine that the behavior of valve indicates whether problem.
In the following, with reference to figure 1, Part I describes the exemplary factory ring that can wherein realize integrated diagnostic system Border.With reference to figure 2, Part II describes the example control valve that can be diagnosed and be analyzed by integrated diagnostic system.Reference chart 3, Part III describes the example valve controller for the diagnostic function that can realize integrated diagnostic system.With reference to Figure 4 and 5, Part IV describes the exemplary plot that can be generated and be analyzed by integrated diagnostic system.With reference to figure 6, Part V, which describes, to be held The illustrative methods of the integrated diagnostic analysis of row.Finally, Part VI includes supplementary notes.
I, the exemplary factory environment of integrated diagnostic system can be wherein realized
Fig. 1 is the block diagram for describing integrated diagnostic system 130, it can be implemented (has to diagnose with analytic process factory 5 When be referred to as " Process Control System " or " process control environment ") one or more of control valve).Process plant is described below 5, the diagnostic system 130 that then description integrates.
Process plant 5 includes one or more process controllers, it receives the process measurement that instruction is carried out by field device Signal, handle the information to realize control routine, and generate and pass through wired or wireless process control communication link or network The control signal of other field devices is sent to, to control the operation of the process in factory 5.In general, at least one field device Physical function (for example, open or close valve, increase or decrease temperature, measure, sensing situation etc.) is performed to control process Operation.Certain form of field device is communicated by using I/O equipment with controller.Process controller, field device and I/O Equipment can be wired or wireless and wired and wireless process controller, field device and I/O equipment any amount It can be included in process plant environment or system 5 with combination.
For example, Fig. 1, exemplified with process controller 11, it has been communicably connected to via input/output (I/O) card 26 and 28 Line field device 15-22 and be communicably connected to wireless field device 40-46 via radio network gateway 35 and process control number According to high-speed channel or backbone 10.One or more of field device 15-22 and 40-46 can be control valves.Process control number Can include one or more wiredly and/or wirelessly communication links according to high-speed channel 10, and can use it is any desired or Appropriate or communication protocol (such as, for example, Ethernet protocol) realize.In some configuration (not shown), controller 11 can use one or more communication networks in addition to backbone 10 to be communicably connected to radio network gateway 35, such as pass through Using supporting that (such as Wi-Fi or other follows the WLANs of 802.11 standards of IEEE and assists one or more communication protocols View, mobile communication protocol (for example, WiMAX, LTE or other ITU-R compatible protocols),HART、WirelessHART、 Profibus、Fieldbus etc.) any number of other wired or wireless communication links.
(it can be the DeltaV for example sold by Emerson Process Management company to controller 11TMController) it can operate To realize batch processing or continuous process using at least some field devices in field device 15-22 and 40-46.Implement one In example, in addition to being communicably connected to process control data high-speed channel 10, controller 11 also uses any desired hardware At least some field devices being connected in field device 15-22 and 40-46, these hardware and softwares are for example with software communication 4-20mA equipment, I/O cards 26,28 and/or any smart communication protocol with standard are (such asFieldbus Agreement, HART protocol, WirelessHART agreements etc.) it is associated.In Fig. 1, controller 11, field device 15-22 and I/O card 26th, 28 be wireline equipment, and field device 40-46 is wireless field device.Certainly, wired field device 15-22 and wireless Field device 40-46 can meet any other desired standard or agreement, such as any wired or wireless agreement, including in the future Any standard or agreement of exploitation.
The process controller 11 of Fig. 1 includes realizing or the one or more process control routines 38 of supervision (are deposited for example, being stored in In reservoir 32) processor 30.Processor 30 is configured as communicating and with communicatedly connecting with field device 15-22 and 40-46 It is connected to other nodes communication of controller 11.It should be noted that any control routine described herein or module can have by not Their part that same controller or miscellaneous equipment are realized or performed.Similarly, the sheet that will be realized in Process Control System 5 The control routine or module 38 of text description can take any form (including software, firmware, hardware etc.).Control routine can be with Any desired software format realizes, for example, using the programming of object-oriented, ladder logic, sequential function chart, functional block diagram, Or use any other software-programming languages or design example.Control routine 38 can be stored in the memory of any desired type In 32, such as random access memory (RAM) or read-only storage (ROM).Similarly, control routine 38 can be by taking hard coded as an example Such as one or more EPROM, EEPROM, application-specific integrated circuit (ASIC) or any other hardware or firmware components.Therefore, control Device 11 can be configured as realizes control strategy or control routine in any desired way.
Controller 11 uses the control strategy of commonly referred to as functional block, wherein, each functional block is whole control routine Object or other parts (for example, subroutine), and (via the communication of referred to as link) is operated together with other functional blocks and is come in fact Process control loop in existing Process Control System 5.Functional block based on control usually perform such as with transmitter, sensor or The associated input function such as other process parameter measurement devices, control function, with performing the control such as PID, fuzzy logic The control function that is associated of control routine or control valve etc. some equipment operation output function in one It is a, to perform some physical functions in Process Control System 5.Certainly, there is mixing and other types of functional block.Functional block It can be stored in controller 11 and be performed by controller 11, this is typically that these functional blocks are used for standard 4-20mA equipment and certain A little types smart devices (such asEquipment) or situation associated there, or can store and set at the scene Realized in itself in itself and by field device, this can beThe situation of field bus device.Control Device 11 can include one or more control routines 38, its can realize by perform one or more functions block perform one A or multiple control loops.
Wired field device 15-22 can be any kind of equipment, sensor, valve, transmitter, locator etc., And I/O cards 26 and 28 can be any kind of I/O equipment for meeting any desired communication or controller protocol.In Fig. 1, Field device 15-18 is that the standard 4-20mA to be communicated by analog line or the analog- and digital- circuit of combination with I/O cards 26 is set It is standby orEquipment, and field device 19-22 is smart machine, such asFieldbus field is set Standby, it is usedField bus protocol is communicated by number bus with I/O cards 28.However, one In a little embodiments, although at least one at least some and/or I/O cards 26,28 in wired field device 15,16 and 18-21 A bit additionally or alternatively using process control data high-speed channel and/or by using other appropriate control system agreements (for example, Profibus, DeviceNet, Foundation fieldbus, ControlNet, Modbus, HART etc.) and controller 11 communications.
In Fig. 1, wireless field device 40-46 is using such asThe wireless protocols of agreement are via nothing Line process control communication network 70 communicates.Such wireless field device 40-46 can be directly with wireless network 70 one A or a number of other equipment or node communicate, these equipment or node be also arranged to carry out wireless communication (such as using Wireless protocols or another wireless protocols).In order to be carried out with the one or more of the other node for not being configured for wireless communication Communication, wireless field device 40-46 can be utilized and be connected to process control data high-speed channel 10 or be connected to another excessively program-controlled The radio network gateway 35 of communication network processed.Radio network gateway 35 provides the visit to the various wireless device 40-58 of cordless communication network 70 Ask.Specifically, radio network gateway 35 provides other sections of wireless device 40-58, wireline equipment 11-28 and/or process control plant 5 Communicative couplings between point or equipment.For example, radio network gateway 35 can by using process control data high-speed channel 10 and/or Communicative couplings are provided by using one or more of the other communication network of process plant 5.
Similar to wired field device 15-22, in the wireless field device 40-46 implementation procedures factory 5 of wireless network 70 Physical control function, such as open or close valve or carry out procedure parameter measurement.However, wireless field device 40-46 by with It is set to and is communicated using the wireless protocols of network 70.Therefore, the wireless field device 40-46 of wireless network, radio network gateway 35 It is the producers and consumers of wireless communication packets with other radio node 52-58.
In some configurations of process plant 5, wireless network 70 includes non-wireless device.For example, in Fig. 1, Fig. 1's shows Field device 48 is traditional 4-20mA equipment, and field device 50 is wired HART device.It is existing for the communication in network 70 Field device 48 and 50 is connected to cordless communication network 70 via wireless adapter 52a, 52b.Wireless adapter 52a, 52b support all Such as the wireless protocols of WirelessHART, and can also support such asFieldbus, PROFIBUS, One or more of the other communication protocol of DeviceNet etc..In addition, in some configurations, wireless network 70 includes one or more A Network Access Point 55a, 55b, its can be with radio network gateway 35 carry out wire communication separated physical equipment, Huo Zheke To provide the radio network gateway 35 by equipment as a whole.Wireless network 70 can also include one or more routers 58, will Packet is forwarded to another wireless device in cordless communication network 70 from a wireless device.In Fig. 1, wireless device 40-46 Communicate with one another with 52-58 by the Radio Link 60 of cordless communication network 70 and/or via process control data high-speed channel 10 And communicate with radio network gateway 35.
As already mentioned, Process Control System 5 includes integrated diagnostic system 130, it can be in host (sometimes referred to as " server ", " computer " etc.) perform on 150, and data highway 10 can be communicably coupled to.Host 150 can be with It is any appropriate computing device, and can includes system 130 saving as one or more modules, application or instruction set Memory (not shown)；And the processor (not shown) of execution system 130.Memory can include being used to place, keep And/or the non-transitory computer-readable medium of receive information is (for example, RAM, ROM, EEPROM, flash memory, disc storage Device, magnetic holder etc.).In some configurations, host 150 can be such as portable hand-held tool including touch interface.This Outside, in some cases, system 130 is application-specific integrated circuit (ASIC).Although Fig. 1 shows the host 150 including display, But host 150 does not include display in some cases.
Integrated diagnostic system 130 performs inline diagnosis, the offline diagnostic analysis diagnosed and/or integrate on control valve (as described, one or more of field device 15-22 and 40-46 can be control valves).As shown in the figure, host 150 provides The all functions associated with system 130.However, in some configurations, integrated diagnostic system 130 is distributed system.Example Such as, the inline diagnosis function of diagnostic system 130 can be realized by the valve control for control valve, and offline diagnostic function It can be realized with integrated diagnostic analysis function by the host for being communicably connected to data highway 10.In this implementation, The diagnostic data of collection can be transmitted to (for example, via I/O cards 26 or 28 and data highway 10) execution by valve control The host 150 of integrated diagnostic analysis.
Note that although Fig. 1 illustrate only with a small amount of field device 15-22 and 40-46, radio network gateway 35, wireless adaptation Device 52, access point 55, router 58 and be included in example process factory 5 wireless process control communication network 70 it is single Controller 11, this is only illustrative and non-limiting embodiment.Any an appropriate number of controller 11 can be included in In process control plant or system 5, and arbitrary controller 11 can be with any number of wired or wireless equipment and network 15-22,40-46,35,52,55,58 and 70 are to control the process in factory 5.The system can be integrated into the sheet performed in cloud Ground analysis, edge analysis or remote analysis.
II, the example control valve that can be diagnosed and be analyzed by integrated diagnostic system 130
Fig. 2 is to describe the control valve for being communicably connected to the part as single input, single output procedure control loop 210 The conceptual schema of 213 integrated diagnostic system 130 (also figure 1 illustrates).Integrated diagnostic system 130 is from control valve 213 With various sensor collection information, and use the information to perform inline diagnosis and offline diagnosis and/or by inline diagnosis and from Radiodiagnosis x produce diagnostic data integrated analysis so that integrated diagnostic system 130 be capable of tracing control valve 213 behavior and Health.The component of control loop 210, subsequent discussing system 130 and its phase interaction with the component of control loop 210 are described below With.
In addition to control valve 213, control loop 210 includes transmitter 222, summing junction 224 and controller 212.Control Valve 213 processed can operate in the factory 5 shown in Fig. 1, and can be similar in field device 15-22 or 40-46 one It is or multiple.For example, control valve can be communicably connected to data height via I/O equipment 26 or 28, controller 11 and/or gateway 35 Fast passage 10.In normal operating, process controller 212 controls control valve 213 for the process variable of manipulation process 220.For Realize the control of valve 213, such as 4 to 20mA command signal is sent to control valve 213 by controller 212.213 quilt of control valve It is illustrated as including locator 214 (its can be electric current to pressure (I/P) converter), locator 214 is usually by 3 to 15psig's Pressure signal is sent to valve actuator 215 (for example, pneumatic relay and/or actuator), and valve actuator 215 transfers pneumatically to control Fixture has the control element 218 (for example, plug) of pressure signal (air).By adjustment control element 218, it can control and pass through The flow of control valve 213, is enable to the process variable in control process 220 (for example, fluid level, pipeline in tank In traffic level, the temperature or pressure etc. of material).
Such as standard, the process variable of 222 measurement process 220 of transmitter, and the instruction of measured process variable will be passed It is sent to summing junction 224.Summing junction 224 is by the measured value (being converted to normalized percentage) of process variable and set point ratio Compared with the error signal that the difference is indicated with generation.The error signal of calculating is then supplied to process controller by summing junction 224 212.Between usually 0 to 100% can be normalized to by the set point that user, operator or another controller generate, and refer to Show the desired value of process variable.Process controller 212 using error signal to generate command signal according to any desired technology, And command signal is transmitted to control valve 213, so as to fulfill the control to process variable.
Although control valve 213 is illustrated as including locator 214, actuator 215 and control element 218, control valve 213 can include replacing the valve machine of those or any other type in addition to those illustrated in Fig. 1 illustrated in Fig. 1 Structure or element, including the electropneumatic positioner for example with the I/P units being integrated in.As another example, actuator 215 can be based on spring, and can be in response to the pressure signal that is received from locator 214 and on control element 218 Apply mechanical force.In addition, electropneumatic positioner can also by one or more sensors, and/or memory, and/or wherein Parameter estimation unit array.Moreover, it will be appreciated that control valve 213 can be by it is any other expectation or it is known in a manner of Control the equipment of any other type of process variable (except valve control system).Control valve 213 can be such as damper.
As described above, integrated diagnostic system 130 collects data from the various equipment in circuit 210, and collected by utilization Data estimate various loop parameters (friction, dead time, dead band etc.) and perform online and offline diagnosis.System 130 One or more components can by host 150 (for example, via data highway 10 be connected to various sensors server, It is directly or indirectly connected to portable dam of various sensors etc.) realize.In some configurations, integrated diagnostic system 130 one or more components can be in the control valve 213 in process control network or any other process control equipment (example Such as, field device) it is internal.If control valve 213 is the equipment based on microprocessor, integrated diagnostic system 130 can be total to Enjoy and the identical processor and memory in control valve 213.Thus, it is contemplated that be statistical analysis (for example, being used for Inline diagnosis, offline diagnosis or integrated analysis) it can utilize and be sent to user display or the host device (example for using Such as, host 150) for the result that uses, (such as in any field device) performs in the equipment wherein measured, or replaces Dai Di, can be by equipment (such as field device) using will be sent to remote location that statistical analysis is performed (such as host 150) these measurement results carry out signal measurement.Anyway, not the precise nature of guard system 130 how, it all via with Valve 213 related various sensing datas are collected.
For example, integrated diagnostic system 130 can be transmitted to the control of locator 214 using current sensor 232 to detect One or more of signal processed, the pressure exported using pressure sensor 234 from locator 214, used by actuator 215 and pressed The actuator command signal that force snesor 236 exports and the valve position of the output of control element 218 using position sensor 237. If desired, integrated diagnostic system 130 can with or alternatively detect set point signal, the error that summing junction 224 exports Signal, process variable, transmitter 222 output or cause or indicate movement or the behaviour of control valve 213 or process control loop 210 Any other signal or phenomenon made.It can be examined it shall also be noted that other types of process control equipment can have by integrated The other signals or phenomenon associated there that disconnected system 130 uses.
It is readily apparent that when control valve 213 is configured as transmitting those measurement results, d diagnostic systems 130 are integrated also The instruction to control order signal, pressure signal, actuator command signal or valve position can be read.Similarly, it is integrated Diagnostic system 130 can also detect the signal of other sensors generation in control valve 213, such as by position sensor The valve position of 237 instructions.Certainly, the sensor that integrated diagnostic system 130 uses can be any of sensor and It can be analog or digital sensor.For example, position sensor 237 can be any desired movement or position measurement apparatus, Including such as potentiometer, linear variable difference transformer (LVDT), Rotary Variable Differential transformer (RVDT), Hall effect movement Sensor, magneto resistance motion sensor, variable capacitance motion sensor etc..Passed it is appreciated that if sensor is simulation Sensor, then integrated diagnostic system 130 can include one or more analog-digital converters, its analog signal is sampled and incite somebody to action Sampled signal is stored in the memory in integrated diagnostic system 130.However, if sensor is digital sensor, they Digital signal can be supplied directly to integrated diagnostic system 130, it in any desired way can then believe these Number storage in memory.In addition, if collecting two or more signals, then integrated diagnostic system 130 can be by these Signal saves as the component of the data point associated with any special time.For example, in time T1, T2 ... each data of Tn Point can have input order signal component, pressure signal component, actuator traveling signal component etc..Certainly, these data points Or component can be stored in memory in a manner of any desired or is known.
As shown in Figure 1, integrated diagnostic system 130 includes diagnostic module 247 and integrated diagnostic analysis device 249, each examine Disconnected module can take any desired form (including software, firmware, hardware etc.).It is for example, any in component 247 and 249 One can be module, application or the instruction that is stored into the memory of computing device and can be performed by the processor of computing device Collection.
Integrated diagnostic system 130 can realize diagnostic module 247 to perform offline diagnosis on control valve 213.Generally For, during offline diagnosis, make control valve 213 offline.Then, 130 control valve 213 of system, passes through its whole stroke range Drive the restricting element of valve 213.When valve 213 opens or closes, system 130 is from one or more of sensor 232-237 Data are collected, and Off-line valve signature (for example, saving as static signature data) is generated using collected data.For example, from Line valve signature can include the set of the expection sensor measurement of the set of the correspondence position corresponding to valve 213.As more Specific example, Off-line valve signature can specify the measurement result from pressure sensor 214 how with from position sensor 237 measurement result is associated, so that position and/or control member by the pressure being applied on actuator 215 and actuator 215 The position of part 218 is associated.
In addition, integrated diagnostic system 130 can realize diagnostic module 247 to perform inline diagnosis on control valve 213. During inline diagnosis, system 130 is one or more from sensor 232-237 to collect data, and uses collected data Generate online valve signature (for example, saving as on-line signature data).Sign similar to Off-line valve, online valve signature can include pair Should be in the set of the desired sensor measurement of the set of the relevant position of valve 213.It is it is worth noting that, online when performing During diagnosis, integrated diagnostic system 130 need not make control valve 213 offline or depart from normal operating environment.On the contrary, system 130 during normal on-line operation by collecting data during 212 control valve 213 of controller.Therefore, online valve signature can be more It is in limited scope that sensor measurement is associated with valve position.For example, different from static signature, static signature can incite somebody to action For 0% open to 100% scope opened, on-line signature associated with valve position of sensor measurement can survey sensor The result scope to would ordinarily be encountered during normal on-line operation associated with valve position is measured, such as 40% opens to 60% dozen Open.
System 130 can usually realize integrated diagnostic analysis device 249 with analyze current operation data, online valve signature and Off-line valve is signed, and can rely on the analysis to estimate the behavior of valve or health.It can be realized by analyzer 249 exemplary Technology is discussed below with reference to Fig. 5 and Fig. 6.
III, the example valve control that diagnostic function can be implemented
Fig. 3 is exemplified with control valve 302 and can realizing the exemplary digital valve control of diagnostic function 347 (in order to simple For the sake of, " controller ") 300, diagnostic function 347 can be similar to the diagnostic module 247 shown in Fig. 1.Valve 302 and controller 300 It can be referred to as " smart valve " or " smart devices ", and field device 15-22 or 40- shown in Fig. 1 can be similar to One or more of 46.Controller 300 can communicatedly be connected via I/O equipment 26 or 28, controller 11 and/or gateway 35 To the data highway 10 shown in Fig. 1.
As discussed below, controller 300 can to various types of process variables, performance optimization, real-time diagnosis etc. into Quick, dynamic situ process of going controls.By directly realizing PID control, controller 300 at valve or another field device Improved loop performance can be provided.In addition, controller 300 effectively instead of multiple equipment, so as to simplify installation and dimension Shield.Single supplier can provide the controller 300 for total loop control.
In the exemplary configuration of Fig. 3, controller 300 operates on the valve 302 in pipeline 304.Valve 302 and pipe Road 304 can be similar to the valve 213 above with reference to Fig. 2 discussion.It is gentle that controller 300 includes function module 310, memory 312 Dynamic output module 314 (it can be similar to the actuator 215 shown in Fig. 2).In some implementations, controller 300 can also wrap Include the sensor of such as pressure sensor 316 etc.In addition, integrated controller 300 can include Network Interface Module 318. In exemplary realization, component 300-322 is coupled to backboard 324.Controller 300 can be via 350 receive process of communication line The setting value of variable and configuration data, and via communication line 352 procedural information and report are provided to distance host.Circuit 350 and 352 are not necessarily physically separated channel, and usually can be the communication letters on same circuit or one group of circuit The physically or logically channel in road, the different time-gap of different radio channels or same channel or any other appropriate type.Line Road 350 and 352 can be communicably connected to the data highway of all data highways 10 as shown in Figure 1 etc.
Next, individually briefly considering component 310-324, the operation of controller 300 is then discussed.
According to implementation, function module 310 can include general Central Processing Unit (CPU), it is configured as performing The instruction being stored in memory 312 and/or one or more specific use modules, are such as configured as performing PID functions Integrated circuit (ASIC) specific to application etc..In the exercisable whole temperature range of controller 300, CPU can include essence Really arrive the real-time clock in annual specific quantity minute (such as 10).More generally, function module 310 can include any appropriate The one or more processors of type.Such as schematic illustration in Fig. 3, function module 310 can realize one discussed with reference to figure 2 Or several PID functions 360, one or several tuber functions 362, one or several real-time navigation capabilities 364, inline diagnosis module 247 and if desired, with monitoring, troubleshooting, Process variability optimization etc. relevant additional function.Function module 310 can With with hardware, firmware, the software instruction or hardware that can be performed by one or more processors, firmware and software it is any appropriate These functions are realized in combination.
In exemplary scenario, communication of the function module 310 via network interface 318 from distance host via pipeline 304 Circuit 350 receives pressure set points, from 316 receiving sensor data of pressure sensor, performs pid algorithm to generate positioning command (or more generally, exporting signal), and positioning command is applied to valve 302 via pneumatic output module 314.It should be noted that work( Energy module 310 can be with the setting value of the setting value of receive process variable, rather than field device.Function module 310 can be from depositing Reservoir 312 obtains the tuner parameters for pid loop.These parameters, which can be preconfigured to be from distance host, to be received, determines And/or tuning etc. automatically that adjustment uses, as discussed in more detail.Therefore, function module 310 can independent of In the case of distance host partly control function is partly performed using the sensing data of collection.According to implementation, Function module 310 can be realized for controlling many various process variables (pressure, position, temperature, flow velocity or pH etc.) Function.
More generally, function module 310 allows integrated controller 300 fast and effeciently to make a response to plant issue (for example, the problem of detection valve 302, failure of detection sensor 316), control loop problem is (for example, determine adjustment pid parameter Should be adjusted), emergence program (such as closing the flow for passing through pipeline 304) is performed, generates and is exported via local UI modules 322 Alarm and/or to distance host report alarm.
Memory 312 can be any appropriate non-transitory computer-readable medium, and can include volatibility and/ Or non-volatile parts.Therefore, memory 312 can include random access memory (RAM), hard disk, flash drive or appoint What its appropriate memory member.Memory 312 can store pid parameter 370, inline diagnosis data 372, valve signed data 374 and process signed data 376.Specifically, pid parameter 370 can be with the circuit of specified control valve 302 or another field device Ratio, derivation and integral gain value.Pid parameter 370 can by teleoperator via distance host configuration provides, and There is provided via network interface 318, or local operator is provided via UI modules 322, by the manufacturer of integrated manipulator 300 Have previously been stored in memory 312 and provide.In some cases, integrated controller 300 can be new in response to receiving Setting value 350 is for example diagnosed and adjusts pid parameter 370.
Valve signed data 374 and process signed data 376 can describe valve 302 and the circuit for control valve 302 respectively Anticipatory behavior.The expected of input signal is rung in general, the signature being stored in memory 312 can describe subsystem Should, so as to compared with the real response of subsystem and determine subsystem whether normal operating.It is stored in memory 312 Signature can include the on-line signature such as described with reference to figure 2.
Integrated controller 300 can partly collect data, to determine the actual sound to such as subsystem of valve 302 Should, and collected data and signature 374, the signature of signature 376 or another are subjected to local comparison again.By this way, Integrated controller can fast and effeciently detect valve problem (for example, actuator is stuck, the leakage of the pressure loss, fluid), mistake Journey is disorderly, control loop deteriorates etc..In addition, if needing, integrated controller 300 can perform appropriate tuber function 362 To create process signature.Signed using process, controller can detect the appropriate tuning for the response of desired control loop Parameter sets.
In addition, memory 312 can retain state of configuration information, daily record, historical data, input and output port etc.. In case of power failure, integrated process controller 300 can be configured as retaining event log, police in memory 312 Report daily record, real time clock data, circuit daily record, historical data, database data, the state of input/output channel, function module Attribute, user list etc..
With continued reference to Fig. 3, pneumatic output module 314 can activate valve 302 during operation.Pneumatic output module 314 can With including I/P converters and one or more relay blocks.In exemplary realization, pneumatic output module 314 includes I/P moulds Block and double acting relay.In addition, in one implementation, in case of power failure, pneumatic output module 314 includes leakage (bleed) relay and the relay being locked in last value.Controller 300 can be via local UI 322 or distance host RUI provides the instruction to the output pressure of pneumatic output module 314.Note that controller 300 can by sense output pressure come The operation of pneumatic output module 314 is monitored, and performs real-time online diagnosis with the complete or partial failure of early detection.
When being in the application of medium for natural gas, controller 300 can include one or several not leaking pneumatic department Part is to meet emission regulation.Controller 300 in these embodiments allows when reducing the discharge compared with traditional, pneumatic equipment It is continuing with medium.
In exemplary realization, pressure sensor 316 is configured as measurement as the whole of the pressure of process variable (PV) Body formula pressure sensor module.Pressure sensor 116 can directly be bolted to housing 330.However, in realization is substituted, Pressure sensor 316 can be as the separated equipment for being coupled to controller 300 by wire link or short range links To provide.Similar to above-mentioned pneumatic output module 314, controller 300 can be via local UI modules (not shown) or long-range main The RUI of machine shows the real time data for pressure sensor 316.In addition, controller 300 can support that operator can be via Local or Remote interface requests or the order for pulling real time data.
Although the discribed exemplary realizations of Fig. 3 include the pressure sensor integral with the remaining components of controller 300 316, but in other realizations, controller 300 can include additional I/O modules, such as valve position sensors or temperature pass Sensor etc..These and other module can be inserted into backboard 324, or controller 300 can be via short haul connection chain Road communicates with add-on module.
Network Interface Module 318 can support puppy parc, such as Internet protocol (IP) and dedicated process control and Industrial automation protocol, it is designed to the life that transmission is used to control the process plant of Modbus, HART, Profibus etc. Order and parameter.Network Interface Module 318 can be supported wiredly and/or wirelessly to communicate.As described above, controller 300 can be via The telecommunication link that Network Interface Module 388 is coupled to receives setting value from distance host.Network Interface Module 318 can be with Support ethernet port, and in some implementations, realize the protection for preventing unauthorized access.
Backboard 324 can be the component of no active circuit, it resides in housing 330 and various with being used to install The connection of module.As shown in figure 3, backboard 324 can be with interconnected functional blocks 310, memory 312, network interface 318, pneumatic defeated Go out module 314 etc..Backboard 324 can usually include connection to receive power, selection circuit, communication port etc..In some realities In existing, CPU module, which is selected or designed into, to be prevented from being erroneously inserted in backboard 324.
In operation, controller 300 can perform real-time estimate, with allow operator quickly obtain to change in process, with The accurate of the problem of valve 302 is related, transmission and communication, control maintenance etc. is seen clearly.Therefore, controller 300 can be performed in scene Control function.In other words, controller 300 is not based on being operated by the order for the distance host generation for realizing pid loop, But can partly control valve 302 and/or loop parameter, and if desired, can be via communication network via order wire Road 352 is to host report information.
In addition, although controller 300 can receive setting value via the wireless communication link that may introduce communication delay 350, but controller 300 can use wired signaling (or even on piece signaling) between the component in identical equipment to become process Setting value is arrived in amount driving.More specifically, controller 300 need not be to another equipment report pressure that can calculate new control signal Power, position, temperature, level, flow rate or other measurement results.Therefore, the renewal to setting value may be subject to wireless communication The limitation of speed, but the communication between the module of sensor, calculating ratio, derivative and integrated value etc. is occurred with the speed of higher.
IV. the exemplary plot 130 that integrated diagnostic system may be generated and analyzed.
The actuator for the typical sliding stem that Fig. 4 is generated exemplified with the integrated diagnostic system 130 by execution inline diagnosis Pressure and the exemplary graph of valve position 400.Curve map 400 can also be referred to as online valve signature.It is every in curve map 400 A point corresponds to the pressure (i.e. " actuator on the actuator 215 being applied to shown in Fig. 2 obtained as integrated diagnostic system 130 Pressure ") and Fig. 2 shown in actuator 215 or control element 218 position (that is, " valve position ") parallel measurement result.To the greatest extent Valve 213 of the pipe with reference to shown in figure 2 discusses curve map 400, but can realize curve map relative to any appropriate valve 400。
Curve map 400 corresponds to the single operation cycle of valve 213.The single operation cycle is properly termed as the " online of valve 213 Signature ".System 130 can collect multiple on-line signatures.In some cases, system 130 can be based on complete period, partial periodicity (for example, representing the trend across two data points, three data points etc.) generation on-line signature, or can be based on multiple cycles and give birth to Into on-line signature, the plurality of cycle represents average period or a certain number of cycles in preset time section, rather than single week Phase (for example, on-line signature can be the rolling average value of ten on-line signatures in the past).
It will be appreciated by those of ordinary skill in the art that when by 213 reverse directions of valve, control element 218 passes through friction Region operates, and in the friction area, pressure applied is greatly reduced or increases but without result in the shifting of control element 218 It is dynamic.The friction area as caused by the friction in valve 213 is usually represented by more vertical lines 410 in Fig. 4.Leaving friction During region, control element 218 is then significantly moved with the pressure change of relatively small application.The operation is usually by Fig. 4 Horizontal line 414 represent.Certainly, other methods of the relation between actuator pressure and actuator or control element position are represented It is and available.For example, actuator pressure and actuator position respectively can draw the time.By along it is identical when Top-stitching is directed at two obtained curves, can analyze curve at the same time to detect so that actuator 215 and/or control element 218 The amount of required pressure can be moved.Therefore, those skilled in the art will appreciate that exemplary graph discussed in this article Only provide by way of illustration.
Fig. 5 gives birth to exemplified with the integrated diagnosis analysis using online and offline diagnosis is performed by integrated diagnostic system 130 Into actuator pressure and valve position exemplary graph 500.Curve map 500 include static signature 502, on-line signature 504, The measurement 512 of data point 506, Trendline 508 and 510 and diagnostic metrics.
Static signature 502 is generated by making valve in off-line state, by whole stroke range control valve, and with The number of the pressure correlation being applied on valve actuator compared with the stroke of the control element of valve or position is collected in the passage of time According to.In other words, system 103 collects data so that at multiple discrete time points, can be compared pressure and valve position Compared with.Because valve, by the movement of gamut, therefore can be seen usually during offline diagnostic test in the gamut of valve Observe these relations.Using collected data, system 130 can generate Off-line valve signature 502.In brief, this is represented The typical behaviour of valve when valve is retouched side (stroked).According to embodiment, static signature can be based on partial periodicity (for example, 0% Opened to 100%, but be not that vice versa), complete period or multiple cycles (for example, representing the average value in multiple cycles).
Inline diagnosis signature 504 can be similar to the on-line signature discussed with reference to figure 4.In brief, system 130 by Valve operation is observed under normal operating condition and generates on-line signature with the time.With static signature on the contrary, the signature is normally based on The data generation collected when valve is moved through total travel scope, because valve can be configured as usually only in the normal operating phase Between be moved through the limited stroke range.
Curve map 500 further includes current data point 506.Work as in general, system 130 is collected during the normal operating of valve Preceding data point 506, and using current data point 506 generate or identify online valve signature (such as sign 504).In some feelings , can be by current data point 506 compared with previous online valve signature under condition.For example, Fig. 5 is shown positioned at signature 504 On data point 506, this shows for the valve position associated with these data points 506, valve need than it is expected or based on More pressure that line signature 504 is observed.Similarly, curve map 500 shows three data points of the lower section of on-line signature 504 506, it is indicated at some points, and valve needs less pressure for given position.
Finally, curve map 500 includes the Trendline 508 and 510 generated by system 130 according to current data point 506.System 130 can generate Trendline 508 and 510 and analyze these lines to assess the health status of valve.In some cases, Trendline 508 and 510 can be a part for online valve signature, or itself can represent that online valve signature (is in this case, not Complete valve signature).
Trendline 510 and 508 can be compared with on-line signature 504 and static signature 502, to assess the healthy shape of valve Condition.Because Trendline 510 and 508 can be worked as and other diagnostic system phases compared with on-line signature and static signature Than when, system 103 can preferably assess the health status of valve.
If for example, by Trendline 510 and static signature 502 individually compared with (usually in typical diagnostic assessment Carry out), then it is observed that needing excessive pressure that valve is moved to given position (relative to static signature), it is thus possible to Draw a conclusion, valve is operated with anomalous mode.Similarly, can by Trendline 510 and on-line signature 504 individually compared with, and Draw a conclusion, which needs the mobile pressure of smaller, and therefore may draw a conclusion, which operates extremely.However, according to label 504 pairs of Trendline 510 of name 502 and signature analysis shows that, for given valve position, when in view of on-line signature 504 and from During line signature 502, valve actuator needs pressure in desired extent.
Curve map 500 also illustrates the measurement result 512 of diagnostic metrics.The specific measurement is to show associated with valve rub Wipe the pressure differential of the size in area.In brief, measurement result 512 has the difference between following two：(i) when valve is being opened To valve position measurement pressure, and (ii) when valve just when closed, to the pressure of same valve position measurement.Measurement result 512 is aobvious Show the friction level associated with valve.As shown in by reference to Fig. 4, when valve is operated by friction area, pressure applied Significantly increase or reduce, but cause seldom or can not cause the movement of valve.Friction area is usual as caused by the friction in valve Represented by more vertical lines of static signature 502 and on-line signature 504.When leaving friction zone, valve is then relatively Significantly moved under small application pressure change.This is easier mobile region by static signature 502 and on-line signature 504 more Multilevel line represents.Measurement result 512 shows the size of friction zone.
Integrated diagnostic system 130 can identify current friction area measurement result (not shown) from data point 506, its Can be compared with measurement result 512 and/or compared with the measurement result for the friction area that on-line signature is associated.Cause This, whether integrated diagnostic system 130 can determine current friction area near the friction area of signature 502 and 504.This Outside, system 130 can determine that friction area is increase or reduction (one possibility of any of which with time monitoring friction area The problem of representing the health status of valve) and the ratio that increaseds or decreases of friction zone.
Integrated diagnostic system 130 can similarly observe other diagnostic metrics.For example, integrated diagnostic system 130 can To monitor static signature 502, static signature 504 and/or more horizontal slopes of trend 508 and 510.The slope usually with The spring rate for being associated with valve is related.Therefore, system 130 can monitor these slopes and determine slope be with the time increase or Reduce (this can be shown that the problem of health status of valve again).
V. the exemplary method of integrated diagnosis analysis is performed
Fig. 6 is the flow chart for describing the illustrative methods 600 for performing integrated diagnostic analysis.Method 600 can all or Partly integrated diagnostic system 130 as shown in Figure 1 is realized.The software instruction of implementation method 600 can be stored in non-temporary In the computer-readable memory of when property.Although the valve 213 with reference to shown in figure 2 discusses method 600, usual method 600 It can be applied to any appropriate valve.
Can be with implementation 600 to assess stability of the valve with the time.In brief, the offline and online behavior of valve is observed And it is compared to each other.Over time it was observed that this relation.When relation starts to change, system 130 can generate report Alert, it indicates that the behavior of valve starts to change when compared with historical performance.
At frame 602, system 130 collects offline diagnostic data.As already noted, this, which is usually directed to, makes valve 213 Offline, by retouching side valve 213 in its whole stroke range, and as valve 213 moves and collects (for example, via sensor 232-237) diagnostic data.In some cases, diagnostic data is included as clock (for example, the inside of the host 150 shown in Fig. 1 The internal hardware or software clock of valve control 300 shown in hardware or software clock or Fig. 3) generation timestamp.Once Through have collected the diagnostic data, system 130 can generate the static signature of the signature 502 for example shown in Fig. 5.
At frame 604, system 130 is according to offline diagnostic data and/or static signature (TR-OFF) calculate offline responses.Letter For it, offline responses represent during offline diagnostic test output variable (for example, be valve 213 in this case) to input The response of the change of variable.In general, input variable is applied to the pressure of actuator 215 or is applied to by actuator 215 The pressure of control element 218, and output variable is in response to the time (for example, control element 218 moves and reaches stable state institute The time of cost).In some cases, output variable is that control element 218 reaches after the change in response to input variable The position of stable state (for example, 60% opens).In some configurations, input variable can be the 4- received by locator 214 20 orders.
At frame 606, system 130 collects inline diagnosis data.Inline diagnosis data are during the on-line operation of valve 213 Collect the data of (for example, via one or more of sensor 232-237).When collecting inline diagnosis data, control Device 212 processed usually as its normally control valve 213 to realize the control logic of process 220.
At frame 608, system 130 is according to inline diagnosis data (TR-ON) calculate online response.In general, online response Response of the output variable (for example, being valve 213 in this case) to input variable during expression on-line operation.With offline responses one Sample, online response can be by the responses of any given output variable (for example, by measurement in sensor 234-237) with appointing The manipulation of what its input variable (for example, being measured by one in sensor 232-236 and/or clock) associates.In other words, use In calculate being used when outputting and inputting variable usually with calculating offline responses of responding online to output and input variable identical.Example Such as, if offline responses are by the use of the pressure signal being applied on actuator 215 as input variable, and using in response to pressure Similarly distinguish as output variable, then online response the position of the control element 218 (being measured by sensor 237) of signal intensity Pressure signal and control element position are used as input variable and output variable.
At frame 610, system 130 is based on the online and offline response calculated (for example, TR-ON/TR-OFF) responded to calculate Ratio.If for example, during on-line operation, valve 213 needs three seconds to be applied to the setting pressure of actuator 215 to respond, And static signature indication valve 213 spends two seconds to respond the identical pressure, then response ratio is 1.5 (3/2).Substitute Ground, if valve needs two seconds to respond given pressure, response ratio is 1 (2/2).
In general, response ratio represents the online behavior of valve 213 and the valve 213 observed during offline diagnostic test The degree of closeness of Behavior modeling (mimic).In some cases, it is desired to the on-line performance of valve and the property during offline diagnostic test Can be different.This be probably by carry out the abrasion of valve after offline diagnostic test, processing conditions change, environmental aspect change etc. because The Multiple factors of element cause.Therefore, the response ratio more than or less than 1 necessarily will not prompt valve encountering problems.
At frame 612, system 130 analyzes the change rate of the response ratio with the time.For example, system 130 can be by commenting The response ratio value of each in the online response of last ten be computed is estimated to estimate line of best fit.With reference to previous Example, last ten online responses are probably (3,3,3,3,3,3,3.2,3.3,3.7,4,4.5), it means that response ratio Respective value will be (1.5,1.5,1.5,1.5,1.55,1.6,1.65,1.85,2,2.25).As can be seen that response ratio is for preceding Five or six samples are metastable, but are gradually increased in last five or six samples.This can be shown that valve Behavior becoming unstable, this show valve there are it is potential the problem of.
As described above, it is sometimes desirable to which the on-line performance of valve is different from offline performance.By observing response ratio with the time Trend, system 130 can solve the expection difference of online and offline behavior.This trend or change rate show offline responses with Whether the relation between line response keeps stablizing over time.In other words, it is offline possible different with online response, but As long as response ratio between the two keeps relative stability, valve may be in order.In other words, response ratio small or do not deposit Change rate represent the valve 213 of monitoring as relatively uniform behavior is presented in the time.For example, the change rate close to zero can refer to Show relative to past performance, in response to the setting pressure being applied on actuator 215, valve 213 is beaten in expected time quantum Desired location is closed on or off.Therefore, when change rate is no more than thresholding, it can be any appropriate value (for example, 2), system 130 continue to collect online data (frame 606).
However, if the change rate of response ratio exceedes thresholding (for example, 2), this shows that valve was being further offset from The performance gone.Therefore, if change rate exceedes thresholding, generation alarm (frame 614).According to configuration, alarm substantially can be Vision or the sense of hearing.Alarm can operator's display screen, valve control display etc. on show or make a sound.
VI, additional information
Unless otherwise expressly specified, such as " processing " used herein, " calculating ", " accounting ", " definite ", " identification ", " be in It is existing ", the word of " display " etc. can refer to one or more memories (for example, volatile memory, nonvolatile memory or It is combined), manipulate in register or conversion be expressed as physics (such as electronics, magnetically or optically) amount data machine (for example, calculating Machine) or reception, storage, the action for the other machine parts for transmitting or showing information or process.
When implemented in software, described application, service, engine, routine and mould it is in the block any one or more can To be stored in any tangible, non-transitory computer-readable memory (such as in disk, laser disk, solid-state memory On equipment, molecular memory storage facilities, CD or other storage mediums, in the RAM or ROM of computer or processor Deng)., should although some exemplary systems are disclosed as including software executed on the hardware and/or firmware and other components This points out that such system is merely illustrative, should not be considered limiting.For example, it is contemplated that these are hard In part, software and firmware component any one or more or all can be specially with hardware, specially with software or hardware and soft Any combination of part embodies.Therefore, will be readily appreciated by those of ordinary skill in the art that the example provided is not to realize this The sole mode of a little systems.

Claims (21)

1. a kind of method, including：
The offline diagnostic data of control valve is received by one or more processors, the control is worked as in the offline diagnostic data description When valve is in non-serving in process plant, response of the control valve to the first control signal of the first stroke range；
The inline diagnosis data of the control valve are received by one or more of processors, the inline diagnosis data description is worked as When the control valve is in service in the process plant, second control signal of the control valve to the second stroke range Response；
Using the offline diagnostic data and the inline diagnosis data, as described in the generation instruction of one or more of processors The diagnostic metrics of at least one operating parameter of control valve；And
In response to determining that the diagnostic metrics exceed threshold value and the instruction of operator will be provided to via user interface by generating.
2. according to the method described in claim 1, wherein, the offline diagnostic data represents static signature, and wherein, it is described Inline diagnosis data represent on-line signature.
3. according to the method described in claim 2, wherein, the static signature and the on-line signature are each by pressure measurement knot Fruit is associated with valve position measurement result, wherein, the pressure measurements are applied to the pressure of the actuator of the control valve The measurement result of power, and the valve position measurement result is in response to the position of the control valve after pressure applied Measurement result.
4. according to the method described in claim 2, further include reception is in service in the control valve in the process plant The the second inline diagnosis data collected when middle；
Wherein, generation indicates that the diagnostic metrics of at least one operating parameter of the control valve include：
Identify the first value, the diagnostic metrics from the on-line signature of the diagnostic metrics from the static signature Second value and diagnostic metrics from the second inline diagnosis data the 3rd value；And
By the 3rd value compared with first value and compared with the second value, to determine the 3rd value Whether fall between first value and the second value；
Wherein, when the described 3rd value is not in the scope, the diagnostic metrics exceed the threshold value.
5. according to the method described in claim 1, wherein, first stroke range is equal to second stroke range.
6. according to the method described in claim 1, wherein, first stroke range is more than second stroke range.
7. according to the method described in claim 1, wherein, one or more of processors include the place of portable hand-held tool Manage device.
8. according to the method described in claim 1, wherein, the diagnostic metrics correspond to the pressure measurements of valve friction Difference, the pressure measurements are the measurement results of the pressure for the actuator that (i) is applied to the control valve, or (ii) applies To the measurement result of the pressure of the control element of the control valve.
9. according to the method described in claim 1, wherein, the diagnostic metrics correspond to the slope of spring rate.
10. according to the method described in claim 1, wherein, the diagnostic metrics are in response to the time, the response time represents Reach stable state the time it takes in response to the control valve after pressure applied.
11. a kind of system, including：
Control valve in process plant；
It is configured to monitor multiple sensors of the control valve；And
The integrated diagnostic system of the multiple sensor is communicably connected to, the diagnostic system is configured as：
The offline diagnostic data of the control valve is received via the multiple sensor, the offline diagnostic data description is when described When control valve is in middle in non-serving in the process plant, first control signal of the control valve to the first stroke range Response；
The inline diagnosis data of the control valve are received via the multiple sensor, the inline diagnosis data description is when described When control valve is in service in the process plant, sound of the control valve to the second control signal of the second stroke range Should；
Indicate that at least one operation of the control valve is joined using the offline diagnostic data and inline diagnosis data generation Several diagnostic metrics；And
In response to determining that diagnostic metrics exceed threshold value and the instruction of operator will be provided to via user interface by generating.
12. system according to claim 11, wherein, the integrated diagnostic system is by one in the following or more It is a to realize：
It is communicably connected to the server of the multiple sensor and is configured as controlling the controller of the control valve；
Configure the Digital Valve Controller of the control valve in order to control；And
It is configured as carrying out the portable of wireless communication with one or more of the server and the Digital Valve Controller Handheld tool.
13. system according to claim 11, wherein, the multiple sensor includes：
Monitoring：(i) pressure being applied on the actuator of the control valve, or (ii) are applied to the control element of the control valve On pressure pressure sensor；And
Monitor the position sensor of the position of the control element of the control valve.
14. system according to claim 11, wherein, the offline diagnostic data and the inline diagnosis data are each wrapped Include：(i) pressure measurements obtained by the pressure sensor, and the position that (ii) is obtained by the position sensor are surveyed Amount is as a result, each position measurements correspond to a pressure measurements in the pressure measurement.
15. system according to claim 11, further includes clock, wherein, the integrated diagnostic system is additionally configured to Time stab is carried out to it when the offline diagnostic data is received, and when the inline diagnosis data are received to it Carry out time stab.
16. system according to claim 15, wherein, the offline diagnostic data and the inline diagnosis data are each wrapped Include：(i) pressure measurements obtained by the pressure sensor, and (ii) using the clock come calculate response when Between, wherein, each response time in the response time represents a pressure in the pressure measurements are responded After measurement result, the control valve reaches stable state the time it takes.
17. system according to claim 11, wherein, the multiple sensor includes：
Monitor the electric transducer of the current signal received by the control valve；And
Monitor the position sensor of the position of the control valve.
18. system according to claim 11, wherein, first stroke range is more than second stroke range.
19. a kind of method, including：
Start offline diagnostic program on control valve in process plant, wherein, the control valve is controlled by stroke range System；
During the offline diagnostic program, offline diagnostic data is collected from the multiple sensors for monitoring the control valve；
The offline responses of the control valve are calculated using the offline diagnostic data；
During the on-line operation of the control valve, from the multiple sensor collection inline diagnosis number for monitoring the control valve According to；
Multiple online responses to the control valve are calculated using the inline diagnosis data；
Responded for each in the multiple response online is online, calculate and ring the offline responses online with the multiple The value for the response ratio that an online response in answering is associated；
The value of the response ratio is analyzed to determine that the response ratio changes with time rate；And
When the change rate of the response ratio exceedes threshold value, the finger of operator will be provided to via user interface by generating Show.
20. according to the method for claim 19, wherein, calculate the offline responses and calculate the multiple online response All include：
The position of the control valve is calculated according to the pressure determined on the control element or actuator of the control valve.
21. according to the method for claim 19, wherein, calculate the offline responses and calculate the multiple online response entirely Portion includes：
The response time of the control valve is calculated according to the pressure determined on the control element or actuator of the control valve.
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